Space Vector based Pulse Density Modulation Scheme for Two Level Voltage Source Inverter

Biji Jacob, M.R. Baiju College of Engineering, Trivandrum, India biji @ece.cet.ac.in, mrbaiju@ece.cet.ac.in
AbstractA Space Vector based Pulse Density Modulation scheme for spreading the spectra of Voltage Source Inverters is proposed in this paper. The proposed scheme employs first order Sigma-Delta Modulator. The principle of Vector Quantization is applied for quantizing the reference voltage Space Vector in the Sigma Delta Modulator. For the spatial quantization, the inverter voltage vector space is divided into seven Voronoi regions. In this paper, a method is proposed to code these Voronoi regions using instantaneous reference phase amplitudes without using lookup table. To avoid fractional arithmetic sixty degree coordinate system is used. The proposed scheme automatically selects the apex vectors in the over-modulation condition and hence results in a smooth transition from linear to over-modulation region. In Pulse Density Modulation, the switching frequency varies randomly, resulting in the spreading of harmonic spectra. The proposed scheme uses only instantaneous reference phase amplitudes to obtain switching vectors without using lookup table and timer. The proposed scheme is implemented and tested with 11.5 kVA two-level inverter driving 2-HP three phase induction motor. Experimental results of proposed scheme are compared with Space Vector PWM and Random Space Vector PWM. Keywords- Pulse Density Modulation; Space Vector; Spread Spectrum; Three Level Inverter; Vector Quantization.

The motivation for adopting the principle of Pulse Density Modulation in the case of two level inverter is that all switching converters can be considered as analog-to-digital converters [10][12]. Switching converters output are discrete digital signal which is equivalent to the quantized analog reference input. Sigma Delta Modulators are used in over sampling analog-to-digital converters to reduce quantization noise by spreading the spectra of the quantization noise [13] [14]. Of the different Pulse Density Modulation schemes, Sigma-Delta Modulator is the minimum distortion scheme [15]. Sigma-Delta Modulation with scalar quantizer has been applied to two-level inverters for power control [15][20]. Hexagonal quantizer can also be used in Sigma-Delta Modulator to control the Voltage Source Inverters [10][12], The concept of Vector Quantization is used instead of scalar quantization for efficient quantizing in digital communication and data compression [22]. In the proposed scheme, Space Vector based Pulse Density Modulation is used to generate switching signals for the twolevel voltage source inverter. First order Sigma Delta Modulator is used to obtain Pulse Density Modulation. The principle of Vector Quantization is applied for quantizing reference space vector in the Sigma Delta Modulator. The scheme has been experimentally verified for 11.5kW, 415V two-level inverter topology driving 2-HP induction motor. II. PRINCIPLES OF SIGMA-DELTA MODULATION AND VECTOR QUANTIZATION

I.

INTRODUCTION

The adjustable speed drives, based on Inverter fed Induction Motors have become popular which need efficient control of both frequency and voltage. In Pulse Width Modulated (PWM) inverters, frequency and voltage control is achieved by varying the duty ratio of inverter switches [1]-[3]. The PWM schemes with constant switching frequency will generate prominent harmonic clusters in the output of voltage and current spectra [3]-[4]. The output frequency spectra of inverter will determine the electromagnetic interference emitted by inverters and acoustic noise generated by electric machine driven by the inverters [3]-[9]. In Random Pulse Width Modulation techniques, the switching frequency is varied randomly to spread the voltage and current harmonics over a wide frequency range without affecting the fundamental frequency component [5]-[7]. The Switching frequency modulation techniques can be classified into three types: periodic, randomized and chaotic [6]. Variable switching frequency PWM schemes require precise timing calculation with the help of high performance DSP processor for pulse pattern generation. In this paper, a Pulse Density Modulation scheme, with variable switching frequency similar to that used in the case of analog-to-digital converters, is proposed for two level inverters.

Sigma-Delta Modulators are widely used in over-sampling Analog-to-Digital Converters (ADC) to reduce quantization noise. The principle of Vector Quantization utilized in image and audio compression for efficient quantization. This paper uses the principle of Sigma-Delta Modulation to control the inverters and the principle of Vector Quantization to realize the quantizer in Sigma-Delta Modulator. Basic principles of Sigma-Delta Modulation and Vector Quantization are described in this section. First Order Sigma-Delta Modulator Block diagram of a first order sigma-delta modulator is shown in Fig. 1 [15]. The modulator consists of a difference node (delta), a discrete time integrator (sigma), a quantizer in forward path and a digital-to-analog converter (DAC) in the feedback path. To simplify the analysis, the quantizer is often linearised and modeled by a quantization noise source e[n], added to the integrated error signal y[n], to produce the quantized output signal s[n] = y[n] + e[n]. A.

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The corresponding time domain version of the modulator output is s[n] = v[n-1] + e[n] e[n-1]. That is the output of sigma delta modulator consists of input signal delayed by one sampling clock period v[n-1] and first order differentiation of quantization noise e[n] e[n-1]. Therefore the input signal passes through the system unaffected and the quantization noise is high pass filtered by the differentiator thus increasing the signal-to-noise ratio (SNR) in the frequency band of interest. B. Vector Quantization In the proposed scheme, principle of Vector Quantization is used to implement quantizer in the SigmaDelta Modulator. The Vector Quantizer maps k-dimensional vectors in the vector space Rk into a finite set of vectors Y = {yi: i = 1, 2, ..., N}. Each vector yi is called a code vector or a codeword, and the set of all the codewords is called a codebook. Associated with each codeword, yi, is a nearest neighbour region called Voronoi region, and it is defined by:

Fig. 2. Proposed Vector Quantized Space Vector Pulse Density

Modulator

Vi = x R k :|| x yi || || x y j ||, for all j i

Each codeword resides in its own Voronoi region. In space vector modulation schemes, the input reference space vector is realised by switching the discrete inverter voltage levels. The switching converter output are at discrete levels which are equivalent to the quantized analog reference input. The switching converters can be therefore considered as Analog to Digital Converters. Sigma-Delta Analog to Digital Converter is used to quantize the reference space vector in the present work. Difference between the reference space vector and modulator output vector generate an error space vector. The error space vector is random in nature with varying amplitude and phase. The error space vector is a point in vector space region of 2-level inverter. In the present work, vector space region of 2-level inverter is divided into seven nonoverlapping Voronoi regions with the eight 2-level inverter switching vectors as its centroids. 2-level inverter switching vectors are assigned as codeword in each Voronoi region. The principle of Vector Quantization is used to quantize the reference space vector to generate switching vectors for two level voltage source inverters in the proposed scheme. III. THE PROPOSED SPACE VECTOR PULSE DENSITY MODULATION SCHEME

Fig. 3. Two level Space Vector diagram with 60 hexagonal

coordinates

The instantaneous values of three phase reference voltages Va, Vb, Vc are resolved into sixty degree (m-n) coordinate system (Fig. 3) instead of Cartesian coordinate to reduce the computational overhead [23]-[24] in the first block of proposed Space Vector Pulse Density Modulation Scheme. The m-axis is placed along the A-phase axis of the induction motor. The resolved components Vm and Vn are obtained from instantaneous values of three phase control input Va , Vb and Vc . The scheme (Fig.2) consists of two Sigma-Delta Modulators, one each for m and n components of the input reference space vector. Each sigma-delta modulator consists of a difference node, a discrete time integrator, a quantizer in the forward path and a digital-to-analog converter (DAC) in the feedback path. The quantizer consists of two parts, m-n frame component to three phase reference voltage converter and Space Vector Quantizer. All these blocks are implemented using digital signal processing scheme. The difference between reference space vector Vref and analog estimate of quantizer output vector Sa is integrated to obtain error vector Ve in sigma-delta modulator. The error vector Ve is quantized to obtain switching vectors S. The m-n frame components of error vector Ve is converted back to three

A. Principle of the proposed scheme Fig. 2 represents the proposed Space Vector Pulse Density Modulation Scheme. In the first block, the instantaneous values of three phase reference voltages Va, Vb, Vc are converted into reference voltage space vector Vref. The voltage space vector represents the combined effect of the three reference phase voltages at a particular instant. Fig. 3 shows the voltage space vectors of a 2-level voltage source inverter. It has eight inverter voltage vectors (V0 to V7) which divides two dimensional vector space into six sectors 1 to 6.

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phase signal using following relations for quantization in the proposed Space Vector Quantizer. Principle of proposed Space Vector Quantizer is explained in detail in next subsection. The output switching vector S is converted to its analog equivalent value (Sa) in - frame components by digital to analog converter in the feedback path. The sector in which the sampled reference space vector is located is determined for finding out the optimum switching sequence. Selection of optimum switching sequence is described in subsection C. The proposed scheme uses only instantaneous reference phase amplitudes to obtain switching vectors without using lookup table and timer. B. Proposed Space Vector Quantizer The error vector Ve, obtained by integrating the difference between reference space vector Vref and analog estimate of quantizer output vector Sa, are random in nature with varying amplitude and phase. The error space vector can be mapped as a point in two dimensional vector space region of 2-level inverter. These instantaneous random error vectors can be quantized by the principle of vector quantization. The vector space of two-level inverter is divided into seven Voronoi regions, named A to G as shown in Fig. 4. The Voronoi regions are selected with two-level inverter voltage vectors as their centroids. The two-level inverter voltage vectors are therefore taken as the codewords (Code Vector) of these Voronoi regions. All the error vector Ve falling in a specific Voronoi region can be quantized to the corresponding codeword (inverter voltage vector). The eight codewords are coded using 3 bits (000 to 111) which are the actual two-level inverter voltage vectors. For quantizing the error vector Ve, it is converted into three phase signal (Va, Vb and Vc) at each sampling instant. If the resultant Space Vector of Ve is less than 30% of DC link voltage ( | Vref | < 0.3*VDC ), the voronoi region G and code word 000 is assigned. If the magnitude of error vector is greater than 30% of DC link voltage, voronoi region A to F in

which sampled error vector Ve exists is determined from the instantaneous amplitude of the three-phase signals Va, Vb and Vc corresponding to Ve. The algorithm to find out voronoi region and corresponding assigned code word is given below. If (Va* Vb *Vc > 0 ) And { if (Va > 0) Voronoi Region A, Vector V1 100 elseif (Vb > 0) Voronoi Region C, Vector V3 010 elseif (Vc > 0) Voronoi Region E, Vector V5 001 } Else If (Va* Vb *Vc < 0 ) And { if (Va < 0) Voronoi Region D, Vector V4 011 elseif (Vb< 0) Voronoi Region F, Vector V6 101 elseif (Vc < 0) Voronoi Region B, Vector V2 110 } The codeword (code vector) assigned to the seven voronoi regions in the proposed Space Vector Quantizer corresponds to the actual inverter voltage space vectors. The generations of switching vectors to the inverter directly from the code vectors using the instantaneous reference phase amplitudes without using lookup table and timing calculations, results in faster implementation in DSP. C. Selection of Optimized Switching Sequence The proposed Space Vector Pulse Density Modulator has to select output vector S that is adjacent to the reference space vector Vref. If difference between reference space vector Vref and quantizer output vector S is too large, error vector Ve may jump to a region which is not adjacent to the reference space vector Vref, resulting in selection of code vector from that region. The selected code vector could be a non-adjacent to the instantaneous reference space vector. This leads to direct polarity reversals in the inverter line to line voltages [17]. Such polarity reversals are undesirable because of increased overvoltage stresses they invoke at the load terminals. Since the selection of vectors from non-adjacent sectors is very low, replacing such vectors by zero vectors will not affect modulator performance significantly [17]. To find out whether the error vector Ve lays near to the reference space vector Vref, the sector in which the original reference space vector Vref located is determined. The sector of the voltage reference space-vector is identified from the instantaneous amplitude of the three phase input reference signal. The combination of voronoi region of error vector Ve and the sector of voltage reference space-vector Vref is used to determine actual switching vector. To reduce the inverter switching losses, minimum switching sequence is done by assigning zero vectors appropriately. Selection of switching vectors V0 through V7 at any sampling instant is determined according to the optimum switching sequence determined by the combination of the reference space vectors sector and the integrated error vectors voronoi region. For example, consider the case reference space vector Vref is located in sector 1, and then the nearest inverter voltage vectors are V1, V2 or V0. If the error vector Ve is located in the Voronoi regions A or F, then switching vector V1 is assigned. On the other hand, if the integrated error vector Ve is located in the Voronoi regions B or C, then switching vector V2 is assigned.

Fig. 4 The Voronoi regions A to G corresponding to the Vector Quantization regions of 3 input control signal.

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Whenever the reference space vector crosses a voronoi region, the error vector Ve may be too large. If the error vector Ve is too large, it may be located in voronoi regions D or E, even if the reference space vector Vref is in sector 1. Under these conditions zero switching vectors (V0 or V7) is assigned to avoid polarity reversal in the inverter line to line voltages. Selection of zero switching vectors V0 [000] or V7 [111] depends on the previous switching vector to minimize the inverter switching losses. If the error vector Ve was in voronoi region A or C (corresponding to switching vectors 100 or 010) in the previous sampling instant, then the zero switching vector V0 [000] is assigned. On the other hand if the error vector Ve was in voronoi region B or F (corresponding to switching vectors 110 or 101) in the previous sampling instant, then the zero switching vector V7 [111] is assigned. There by ensuring the switching of one inverter leg only. Similarly all the cases switching vectors are selected. IV. EXPERIMENTAL VERIFICATION OF THE PROPOSED SCHEME

proposed scheme is Pulse Density Modulated wave where density of the pulses are changed resulting in switching frequency variation. In SVPWM pole voltage switches at constant frequency and pulse width is varied according to the control signal Fig. 6(b). In Random PWM switching frequency is varied randomly with duty ratio proportional to the control signal Fig 6(c). The pulse density property of the proposed scheme is further illustrated with the time scale expanded three pole voltage waveforms given in Fig. 7(a). Upper three traces in Fig. 7(a) are the three pole voltages (VAO, VBO , VCO) for the proposed scheme with modulation index m= 0.8. Time scale expanded waveforms of the marked area in the upper three traces are shown in lower three traces obtained using DPO3000 series oscilloscope. It can be seen from Fig. 7(a) that the width of each pulse is equal to sampling time but the density of pulses are varied according to the V/f control scheme. This will change the effective width of pulses and resulting in the variation of switching frequency. The time scale expanded three pole voltage waveforms of Random SVPWM is given in Fig. 7(b). The switching frequency is varied randomly with width of pulses in Random SVPWM is varied in wide range resulting in minimum pulse width problem. The switching frequency in the proposed scheme is not constant but varies randomly as seen from Fig. 6 (a) and 7(a), since it is Pulse Density Modulation strategy. Variable switching frequency results in spreading of the harmonic spectrum. In Fig.8 the voltage spectra of A-phase Pole voltage (VAO) for the three schemes are compared for modulation index 0.8 obtained experimentally using DSO. Fig.8(a) shows pole voltage spectra of the proposed scheme at average switching frequency 5 KHz. The spectra of the proposed scheme do not have any prominent harmonic spikes. Due to the inherent property of over-sampled Sigma Delta Modulator, low frequency switching noises are spread over a wide bandwidth [8] in the proposed scheme. The switching frequency used in the SVPWM scheme is 2.5 KHz, hence prominent switching noise are present at 2.5 KHz and its harmonics as shown in Fig.8(b). In Random SVPWM scheme with average switching frequency 2.5 KHz, low order harmonics are significant as seen from Fig.8(c). The switching frequency harmonics are 20 to 15 dB less in the proposed scheme in the audible frequency range compared to SVPWM and Random SVPWM. Hence tonal acoustic noise emitted from ac motors operating with a carrier frequency in the audible range can be substantially reduced in an inexpensive manner by using the proposed scheme. Fig. 9 show the comparison of Total Harmonic Distortion characteristics of the Proposed scheme, SVPWM and Random PWM schemes with different modulation indices for the Pole Voltage evaluated experimentally. It shows Total Harmonic Distortion of the Proposed scheme is much less than SVPWM scheme and comparable with the Random PWM scheme for all modulation indices.

The proposed scheme for two-level inverters is implemented for 11.5 kVA two-level inverter driving a 2 HP three phase induction motor using the dSPACE DS 1104 RTI platform (Fig. 5). Results are taken with V/f control for different modulation indices covering different speed ranges including over modulation conditions. The results of proposed scheme are compared with SVPWM and random PWM schemes under identical conditions. The Induction motor Pole voltages (VAO) and Phase voltages (VAN) of the proposed scheme, SVPWM and Random PWM for modulation index 0.8 are shown in Fig. 6(a), (b) and (c) as upper and lower traces respectively. From pole voltage (VAO) waveform of the proposed scheme in Fig. 6(a), it can be noted that the pole voltage remains positive VDC during positive peak and zero during the negative peak of the fundamental sinusoidal signal. The value of the pole voltage varies rapidly between VDC and zero with approximately zero mean during the zero crossover of the fundamental sinusoidal signal. The average in each sampling period of the pole voltage tracks the analog control input. The Pole voltage of the

Fig. 5. Three-phase Two-level Voltage Source Inverter with Induction Motor.

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Fig.6(a). Upper trace: Pole Voltage (VAO) and Lower trace: Phase voltage (VAN) for the proposed scheme with modulation index m=0.8. . Scale : X-axis: 5ms/div; Y-axis : 50 V/div

Fig.6(b). Upper trace: Pole Voltage (VAO) and Lower trace: Phase voltage (VAN) for the SVPWM scheme with modulation index m=0.8. . Scale : X-axis: 10ms/div; Y-axis : 50 V/div

Fig.6(c) Upper trace: Pole Voltage (VAO) and Lower trace: Phase voltage (VAN) for the Random SVPWM scheme with modulation index m=0.8. Scale : X-axis: 10ms/div; Y-axis : 50 V/div

Fig.7(a). Experimental waveforms of three pole voltages (VAO, VBO, VCO ) for the proposed scheme with modulation index m= 0.8. Time scale expanded waveform of three pole voltages of marked area in the top waveform is given in the bottom traces. X-axis: 1ms/div; Y-axis : 50 V/div

Fig.7(b). Experimental waveforms of three pole voltages (VAO, VBO, VCO ) for the Random SVPWM scheme with modulation index m= 0.8. Time scale expanded waveform of three pole voltages of marked area in the top waveform is given in the bottom traces. X-axis: 1ms/div; Y-axis : 50 V/div

Proposed scheme m=0.8

SVPWM scheme m=0.8

RPWM scheme m=0.8

Fig.8(a). Experimental Pole voltage (VAO) spectrum for the proposed scheme with modulation index m=0.8. Scale : Y-axis : -40 ~ 40 dB, 10 dB/div; Xaxis : 0 ~ 50 KHz, 5 KHz/div

Fig.8(b). Experimental Pole voltage (VAO) spectrum for the SVPWM with modulation index m=0.8. Scale : Y-axis : -40 ~ 40 dB, 10 dB/div; X-axis : 0 ~ 50 KHz, 5 KHz/div

Fig.8(c). Experimental Pole voltage (VAO) spectrum for the RPWM with modulation index m=0.8. Scale : Y-axis : -40 ~ 40 dB, 10 dB/div; X-axis : 0 ~ 50 KHz, 5 KHz/div

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[7]

[8]

[9]

[10]

Fig.9. Experimental Results: Comparison of THD characteristics of the pole voltage for the Proposed scheme, SVPWM and Random PWM schemes

[11]

V.

CONCLUSION

[12]

A 2-Level Voltage Source Inverter control scheme using Space Vector based Pulse Density Modulation with Vector Quantization is proposed. The scheme uses the Sigma Delta Modulation and Vector Quantization principle for quantizing the reference space vector. The space vector region is divided into seven Voronoi regions and a method is presented for vector quantization from instantaneous reference phase amplitudes. The proposed Space Vector Pulse Density Modulation scheme is implemented for 11.5 kVA two-level inverter driving a 2 HP three phase induction motor. The performance of the proposed scheme is compared with Space Vector PWM and Random Space Vector PWM schemes under identical conditions for different modulation indices and experimental results are presented. The experimental results show that spectrum with the proposed scheme is uniformly spread without having noise peaks at harmonics of switching frequency. The switching frequency harmonics are 15 to 20 dB less in the proposed scheme compared to classical SVPWM. The Total Harmonic Distortion of the Proposed scheme is less than SVPWM scheme and comparable with the Random PWM scheme for all modulation indices. REFERENCES
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